/** ###################################################################
**     Filename  : Pid.H
**     Project   : CyberPark
**     Processor : MC9S12XS128MAL
**     Compiler  : CodeWarrior HCS12X C Compiler
**     Date/Time : 2011-7-31, 23:03
**     Contents  :
**         User source code
**
**     (c) Copyright UNIS, a.s. 1997-2008
**     UNIS, a.s.
**     Jundrovska 33
**     624 00 Brno
**     Czech Republic
**     http      : www.processorexpert.com
**     mail      : info@processorexpert.com
** ###################################################################*/

#ifndef __Pid_H
#define __Pid_H

/* MODULE Pid */
#include "Types.h"

typedef struct {             
   S16 ProportionalGain;
   S16 ProportionalGainScale;
   S16 IntegralGain;
   S16 IntegralGainScale;
   S16 DerivativeGain;
   S16 DerivativeGainScale;
   S16 PositivePIDLimit;
   S16 NegativePIDLimit;
   S16 IntegralPortionK_1;
   S16 InputErrorK_1;
} mc_sPIDparams;

S16 PID_controllerPIDtype1(S16 DesiredValue,S16 MeasuredValue,mc_sPIDparams *pParams);


/* END Pid */

#endif

